File content as of revision 2:d8e1613dc38b:

#ifndef _STATE_H_
#define _STATE_H_

#include <cmath>
#include "mbed.h"
#include "MaxonESCON.h"
#include "RobotControl.h"
#include "Task.h"
#include "HMC5883L.h"
#include "HMC6352.h"
#include "defines.h"

/**
 * @author Christian Burri
 *
 * @section LICENSE
 *
 * Copyright &copy; 2013 HSLU Pren Team #1 Cruising Crêpe
 * All rights reserved.
 *
 * @section DESCRIPTION
 *
 * State is the main mechanism for communicating current realtime system state to
 * the rest of the system for logging etc.
 */

class State : public Task
{

private:

    state_t* s;
    RobotControl*       robotControl;
    MaxonESCON*         motorControllerLeft;
    MaxonESCON*         motorControllerRight;
  //  HMC6352*            compass;
    AnalogIn*           battery;
    Timer               timer;
    float               period;

    float               magout[3];

public:


    /**
     * Creates a robot control object and initializes all private state variables.
     * @param s struct to read and write the state.
     * @param robotControl Object to read the state.
     * @param motorControllerLeft a reference to the servo drive for the left motor.
     * @param motorControllerRight a reference to the servo drive for the right motor.
     * @param compass Modul HMC5883L
     * @param battery Analog Input Battery Voltage input
     * @param period the sampling period of the run loop of this controller, given in [s].
     */
    State(state_t* s, RobotControl* robotControl, MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, /*HMC6352* compass,*/ AnalogIn* battery, float period);

    /**
    * Destructor of the Object to destroy the Object.
    **/
    virtual     ~State();
    
    /**
     * Initzialize the File. Open the File plots.txt and set the title at first line
     */
    void initPlotFile(void);

    /**
    * Save the char to the file.
    * For example at the end.
    * Don't forget the \n at first.
    */
    void savePlotText(char text[]);

    /**
    * Close the File
    */
    void closePlotFile(void);

    /**
     * Return the Battery voltage
     * state variables.
     * @return Batterie Voltage [V]
     */
    float readBattery();

     /**
     * Starts the timer from zero
     * The timer is for the logging Time.
     */
    void startTimerFromZero();

    /**
    * Save the new state to a new line
    */
    void savePlotFile(state_t s);

    void        run();


private:

    void setBatteryBit();

    void setEnableLeftBit();

    void setEnableRightBit();
};

#endif